#ifndef KUKAFORCECONTROLINSTANCE_H
#define KUKAFORCECONTROLINSTANCE_H

#include "kukaforcecontrolinstance_global.h"
#include "_Interface/_global_datastruct.h"
#include "_Interface/_interface_hmi.h"
#include "_Interface/_interface_backend.h"

class KUKAFORCECONTROLINSTANCESHARED_EXPORT KUKAForceControlInstance{
public:
    KUKAForceControlInstance(short Local_Remote);
    ~KUKAForceControlInstance();
private:
    HmiInterface* pViualKUKAHmi = nullptr;
    BackendInterface* pViualKUKABackend = nullptr;
private:
    void RegisiterBackendtoHmi();
public:
    QWidget* getUiHandle();
public:
    short task_uifast_UiDataUpdate();
    short task_uifast_ForceScopeUpdate();
    short task_uifast_RobotScopeUpdate();

    short task_maininit_ForceSensorConnect();

    short task_mainloop_ForceSensorLoopRun();

    short task_kukaloop_KUKAProcess();

    void  task_com_RemoteDataRecv(QByteArray Data);
    void  task_com_RemoteDataSend(QByteArray& Data);
};

#endif // KUKAFORCECONTROLINSTANCE_H
